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https://github.com/wpilibsuite/allwpilib
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6a8fcbc407
Previously, the AnalogOutput simulating a potentiometer was setting the output voltage assuming a supply votlage of 5V. Now it uses the actual "5V" that is being output. The Java test was already doing this correctly. Change-Id: Icbba89f9bc14ebe0005416de55dcac3a2727bf21
48 lines
1.5 KiB
C++
48 lines
1.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include <AnalogOutput.h>
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#include <AnalogPotentiometer.h>
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#include <Timer.h>
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#include <ControllerPower.h>
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#include "TestBench.h"
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#include "gtest/gtest.h"
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static const double kScale = 270.0;
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static const double kAngle = 180.0;
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class AnalogPotentiometerTest : public testing::Test {
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protected:
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AnalogOutput *m_fakePot;
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AnalogPotentiometer *m_pot;
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virtual void SetUp() override {
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m_fakePot = new AnalogOutput(TestBench::kAnalogOutputChannel);
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m_pot =
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new AnalogPotentiometer(TestBench::kFakeAnalogOutputChannel, kScale);
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}
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virtual void TearDown() override {
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delete m_fakePot;
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delete m_pot;
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}
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};
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TEST_F(AnalogPotentiometerTest, TestInitialSettings) {
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m_fakePot->SetVoltage(0.0);
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Wait(0.1);
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EXPECT_NEAR(0.0, m_pot->Get(), 5.0)
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<< "The potentiometer did not initialize to 0.";
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}
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TEST_F(AnalogPotentiometerTest, TestRangeValues) {
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m_fakePot->SetVoltage(kAngle / kScale * ControllerPower::GetVoltage5V());
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Wait(0.1);
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EXPECT_NEAR(kAngle, m_pot->Get(), 2.0)
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<< "The potentiometer did not measure the correct angle.";
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}
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